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<div class="textblock"><code>#include &lt;<a class="el" href="../../d0/d9c/core_2include_2opencv2_2core_8hpp.html">opencv2/core.hpp</a>&gt;</code><br />
<code>#include &lt;vector&gt;</code><br />
<code>#include &quot;<a class="el" href="../../dc/df7/dictionary_8hpp.html">opencv2/aruco/dictionary.hpp</a>&quot;</code><br />
</div><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html">cv::aruco::Board</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html" title="Board of markers. ">Board</a> of markers.  <a href="../../d4/db2/classcv_1_1aruco_1_1Board.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html">cv::aruco::DetectorParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for the detectMarker process:  <a href="../../d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html">cv::aruco::GridBoard</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Planar board with grid arrangement of markers More common type of board. All markers are placed in the same plane in a grid arrangement. The board can be drawn using <a class="el" href="../../d9/d6a/group__aruco.html#gacc98e7993d9f78c9eb1250f030896e85" title="Draw a planar board. ">drawPlanarBoard()</a> function (.  <a href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#details">More...</a><br /></td></tr>
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<tr class="memdesc:d2/d75/namespacecv"><td class="mdescLeft">&#160;</td><td class="mdescRight">"black box" representation of the file storage associated with a file on disk. <br /></td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:gafce26321f39d331bc12032a72b90eda6"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#gafce26321f39d331bc12032a72b90eda6">cv::aruco::CornerRefineMethod</a> { <br />
&#160;&#160;<a class="el" href="../../d9/d6a/group__aruco.html#ggafce26321f39d331bc12032a72b90eda6adaab47b5a6c1a9519c31cd911799f397">cv::aruco::CORNER_REFINE_NONE</a>, 
<br />
&#160;&#160;<a class="el" href="../../d9/d6a/group__aruco.html#ggafce26321f39d331bc12032a72b90eda6a62ae78cbc223dfe552c99adbc9002e5b">cv::aruco::CORNER_REFINE_SUBPIX</a>, 
<br />
&#160;&#160;<a class="el" href="../../d9/d6a/group__aruco.html#ggafce26321f39d331bc12032a72b90eda6abef4b459cc329a3ab839773c0805e66a">cv::aruco::CORNER_REFINE_CONTOUR</a>, 
<br />
&#160;&#160;<a class="el" href="../../d9/d6a/group__aruco.html#ggafce26321f39d331bc12032a72b90eda6a3e940dda27d11e803b40b51bde40f2c5">cv::aruco::CORNER_REFINE_APRILTAG</a>
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Functions</h2></td></tr>
<tr class="memitem:gace9580fe2e04beebd3ed57d413a72552"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#gace9580fe2e04beebd3ed57d413a72552">cv::aruco::_drawPlanarBoardImpl</a> (Board *board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)</td></tr>
<tr class="memdesc:gace9580fe2e04beebd3ed57d413a72552"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of drawPlanarBoard that accepts a raw <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html" title="Board of markers. ">Board</a> pointer.  <a href="../../d9/d6a/group__aruco.html#gace9580fe2e04beebd3ed57d413a72552">More...</a><br /></td></tr>
<tr class="separator:gace9580fe2e04beebd3ed57d413a72552"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gacf03e5afb0bc516b73028cf209984a06"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#gacf03e5afb0bc516b73028cf209984a06">cv::aruco::calibrateCameraAruco</a> (InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr&lt; Board &gt; &amp;board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))</td></tr>
<tr class="memdesc:gacf03e5afb0bc516b73028cf209984a06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calibrate a camera using aruco markers.  <a href="../../d9/d6a/group__aruco.html#gacf03e5afb0bc516b73028cf209984a06">More...</a><br /></td></tr>
<tr class="separator:gacf03e5afb0bc516b73028cf209984a06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga5cb94cb60821894039dbb902ec42d835"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga5cb94cb60821894039dbb902ec42d835">cv::aruco::calibrateCameraAruco</a> (InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr&lt; Board &gt; &amp;board, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs=noArray(), OutputArrayOfArrays tvecs=noArray(), int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))</td></tr>
<tr class="memdesc:ga5cb94cb60821894039dbb902ec42d835"><td class="mdescLeft">&#160;</td><td class="mdescRight">It's the same function as <a class="el" href="../../d9/d6a/group__aruco.html#gacf03e5afb0bc516b73028cf209984a06" title="Calibrate a camera using aruco markers. ">calibrateCameraAruco</a> but without calibration error estimation.  <a href="../../d9/d6a/group__aruco.html#ga5cb94cb60821894039dbb902ec42d835">More...</a><br /></td></tr>
<tr class="separator:ga5cb94cb60821894039dbb902ec42d835"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gab9159aa69250d8d3642593e508cb6baa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#gab9159aa69250d8d3642593e508cb6baa">cv::aruco::detectMarkers</a> (InputArray image, const Ptr&lt; Dictionary &gt; &amp;dictionary, OutputArrayOfArrays corners, OutputArray ids, const Ptr&lt; DetectorParameters &gt; &amp;parameters=DetectorParameters::create(), OutputArrayOfArrays rejectedImgPoints=noArray(), InputArray cameraMatrix=noArray(), InputArray distCoeff=noArray())</td></tr>
<tr class="memdesc:gab9159aa69250d8d3642593e508cb6baa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Basic marker detection.  <a href="../../d9/d6a/group__aruco.html#gab9159aa69250d8d3642593e508cb6baa">More...</a><br /></td></tr>
<tr class="separator:gab9159aa69250d8d3642593e508cb6baa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga16fda651a4e6a8f5747a85cbb6b400a2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga16fda651a4e6a8f5747a85cbb6b400a2">cv::aruco::drawAxis</a> (InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputArray rvec, InputArray tvec, float length)</td></tr>
<tr class="memdesc:ga16fda651a4e6a8f5747a85cbb6b400a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw coordinate system axis from pose estimation.  <a href="../../d9/d6a/group__aruco.html#ga16fda651a4e6a8f5747a85cbb6b400a2">More...</a><br /></td></tr>
<tr class="separator:ga16fda651a4e6a8f5747a85cbb6b400a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga2ad34b0f277edebb6a132d3069ed2909"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga2ad34b0f277edebb6a132d3069ed2909">cv::aruco::drawDetectedMarkers</a> (InputOutputArray image, InputArrayOfArrays corners, InputArray ids=noArray(), Scalar borderColor=Scalar(0, 255, 0))</td></tr>
<tr class="memdesc:ga2ad34b0f277edebb6a132d3069ed2909"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw detected markers in image.  <a href="../../d9/d6a/group__aruco.html#ga2ad34b0f277edebb6a132d3069ed2909">More...</a><br /></td></tr>
<tr class="separator:ga2ad34b0f277edebb6a132d3069ed2909"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga254ed245e10c5b3e2259d5d9b8ea8e2f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga254ed245e10c5b3e2259d5d9b8ea8e2f">cv::aruco::drawMarker</a> (const Ptr&lt; Dictionary &gt; &amp;dictionary, int id, int sidePixels, OutputArray img, int borderBits=1)</td></tr>
<tr class="memdesc:ga254ed245e10c5b3e2259d5d9b8ea8e2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw a canonical marker image.  <a href="../../d9/d6a/group__aruco.html#ga254ed245e10c5b3e2259d5d9b8ea8e2f">More...</a><br /></td></tr>
<tr class="separator:ga254ed245e10c5b3e2259d5d9b8ea8e2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gacc98e7993d9f78c9eb1250f030896e85"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#gacc98e7993d9f78c9eb1250f030896e85">cv::aruco::drawPlanarBoard</a> (const Ptr&lt; Board &gt; &amp;board, Size outSize, OutputArray img, int marginSize=0, int borderBits=1)</td></tr>
<tr class="memdesc:gacc98e7993d9f78c9eb1250f030896e85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Draw a planar board.  <a href="../../d9/d6a/group__aruco.html#gacc98e7993d9f78c9eb1250f030896e85">More...</a><br /></td></tr>
<tr class="separator:gacc98e7993d9f78c9eb1250f030896e85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga366993d29fdddd995fba8c2e6ca811ea"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga366993d29fdddd995fba8c2e6ca811ea">cv::aruco::estimatePoseBoard</a> (InputArrayOfArrays corners, InputArray ids, const Ptr&lt; Board &gt; &amp;board, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false)</td></tr>
<tr class="memdesc:ga366993d29fdddd995fba8c2e6ca811ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose estimation for a board of markers.  <a href="../../d9/d6a/group__aruco.html#ga366993d29fdddd995fba8c2e6ca811ea">More...</a><br /></td></tr>
<tr class="separator:ga366993d29fdddd995fba8c2e6ca811ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga84dd2e88f3e8c3255eb78e0f79571bd1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga84dd2e88f3e8c3255eb78e0f79571bd1">cv::aruco::estimatePoseSingleMarkers</a> (InputArrayOfArrays corners, float markerLength, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints=noArray())</td></tr>
<tr class="memdesc:ga84dd2e88f3e8c3255eb78e0f79571bd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pose estimation for single markers.  <a href="../../d9/d6a/group__aruco.html#ga84dd2e88f3e8c3255eb78e0f79571bd1">More...</a><br /></td></tr>
<tr class="separator:ga84dd2e88f3e8c3255eb78e0f79571bd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga0c158c55c50df8354930927d819f7e9d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga0c158c55c50df8354930927d819f7e9d">cv::aruco::getBoardObjectAndImagePoints</a> (const Ptr&lt; Board &gt; &amp;board, InputArrayOfArrays detectedCorners, InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints)</td></tr>
<tr class="memdesc:ga0c158c55c50df8354930927d819f7e9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a board configuration and a set of detected markers, returns the corresponding image points and object points to call solvePnP.  <a href="../../d9/d6a/group__aruco.html#ga0c158c55c50df8354930927d819f7e9d">More...</a><br /></td></tr>
<tr class="separator:ga0c158c55c50df8354930927d819f7e9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga13a2742381c0a48e146d230a8cda2e66"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d6a/group__aruco.html#ga13a2742381c0a48e146d230a8cda2e66">cv::aruco::refineDetectedMarkers</a> (InputArray image, const Ptr&lt; Board &gt; &amp;board, InputOutputArrayOfArrays detectedCorners, InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners, InputArray cameraMatrix=noArray(), InputArray distCoeffs=noArray(), float minRepDistance=10.f, float errorCorrectionRate=3.f, bool checkAllOrders=true, OutputArray recoveredIdxs=noArray(), const Ptr&lt; DetectorParameters &gt; &amp;parameters=DetectorParameters::create())</td></tr>
<tr class="memdesc:ga13a2742381c0a48e146d230a8cda2e66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Refind not detected markers based on the already detected and the board layout.  <a href="../../d9/d6a/group__aruco.html#ga13a2742381c0a48e146d230a8cda2e66">More...</a><br /></td></tr>
<tr class="separator:ga13a2742381c0a48e146d230a8cda2e66"><td class="memSeparator" colspan="2">&#160;</td></tr>
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